动力机械系统振动主动控制部分施控理论的研究
摘要
本文以汽轮发电机组转子轴系和内燃机整机振动系统为例,围绕
动力机械系统振动的部分主动施控(PAC)这一核心问题,进行了深
入的理论分析和相关特性研究,并根据控制对象的特点分别提出了
部分模态施控(PMC)、部分坐标施控(PCC)和部分频带施控(PFC)
的主动控制策略。
文中首先在弹性连续体阶梯轴系扭振响应计算的基础上,根据
各阶扭振模态响应的强弱,利用独立模态空间控制理论,进行了 PMC
的理论分析和仿真计算。同时又对 PMC 应用过程中的某些特性进行
了深入的分析和讨论,对耦合问题、加权矩阵及稳定度参数的选取
问题等,提出了相应的技术措施和重要的参考依据。
根据系统中某些关键部位对振动响应较高的要求,建立了以这
些关键部位振动响应为变量构成的性能指标,以性能指标最小化为
目标进行了 PCC 控制规律的推导和求取,并在理论分析指导下,完
成了汽轮发电机组转子轴系扭振 PCC 控制效果的计算机仿真,得到
了包括施控部位和无控部位在内的良好的整体控制效果。
为验证 PMC 理论,在轴系扭振模拟实验台上对一台 200MW 汽轮
发电机组转子轴系的扭振进行了 PMC 的主动控制模拟实验,取得了
比较理想的结果,验证了理论分析的正确性。
在对称于质心的四点支承安装的基础上,内燃机整机振动的能量
主要集中在 x 自由度和( z ? β )两个自由度的耦合振动方面,同样
适宜采用 PMC 控制技术。
为了将有效的控制作用集中在最需要的地方,分析了频域内有关
部分施控的特性,提出了 PFC 施控策略。根据 PFC 原理建立的性能
指标是频率的函数,从而可以根据需要给予特定频带内额外的加权。
在对内燃机整机振动的频域特性分析后,进行了内燃机整机振动 PFC
控制过程的仿真计算,并最终取得较常数加权矩阵更为优化的控制
效果。
Concentrating on PAC (Partial Active Control) of vibration of
power machinery system, this paper studied the vibration of
turbogenerator shaft system (TSS) and structural vibration of an
internal combustion engine. After a sound theoretical and characteristic
analysis, strategy of active control of PMC (Partial Mode Control),
PCC(Partial Coordinate Control) and PFC (Partial Frequency Control)
were introduced according to the character of controlling object.
First, we judged the strong and weak of mode response from the
calculated dynamic response of the distributed elastic step spindle of
TSS. The succeeding theoretical analysis and simulation of PMC were
made based on the theory of independent modal-space control. Some
characters of PMC were also discussed (i.e. coupled control problem,
selecting weighting matrix and stability regulation etc.). Some
technology measures and important references to these procedures were
introduced in the mean time.
Because vibrations of some key parts must be constrained in a
certain extent, these vibration responses were set as performance
criteria. By minimizing these performance criteria, the PCC optimal
control policy was finally realized. From the simulation of PCC of
vibration of TSS, a good entire control effect including both executive
control and non-control subsystems was obtained.
Based on the theoretical research, a PMC simulation test is carried
out on a 200MW TSS. The satisfied experimental outcome proved the
validity of PMC theory.
In the case of four supporting brackets symmetry to the cent of
mass, the major structural vibration energy of an engine centralizes on
the coupled vibration in the x and ( z ? β ) degree of freedom. The PMC
policy is valid too.
To exert the effective control energy on the most needful parts, the
PFC policy was adopted based on the analysis of characters of PAC in
frequency domain. The performance criteria are functions of frequency
using PFC in linear quadratic control problems. In this case, we can
apply supplementary weighting in given frequency band. Based on the
analysis of the vibration of structural vibration of engine in frequency
domain, a simulated calculation of PFC achieved better optimal results
than which applying constant weighting.
动力机械系统振动的部分主动施控(PAC)这一核心问题,进行了深
入的理论分析和相关特性研究,并根据控制对象的特点分别提出了
部分模态施控(PMC)、部分坐标施控(PCC)和部分频带施控(PFC)
的主动控制策略。
文中首先在弹性连续体阶梯轴系扭振响应计算的基础上,根据
各阶扭振模态响应的强弱,利用独立模态空间控制理论,进行了 PMC
的理论分析和仿真计算。同时又对 PMC 应用过程中的某些特性进行
了深入的分析和讨论,对耦合问题、加权矩阵及稳定度参数的选取
问题等,提出了相应的技术措施和重要的参考依据。
根据系统中某些关键部位对振动响应较高的要求,建立了以这
些关键部位振动响应为变量构成的性能指标,以性能指标最小化为
目标进行了 PCC 控制规律的推导和求取,并在理论分析指导下,完
成了汽轮发电机组转子轴系扭振 PCC 控制效果的计算机仿真,得到
了包括施控部位和无控部位在内的良好的整体控制效果。
为验证 PMC 理论,在轴系扭振模拟实验台上对一台 200MW 汽轮
发电机组转子轴系的扭振进行了 PMC 的主动控制模拟实验,取得了
比较理想的结果,验证了理论分析的正确性。
在对称于质心的四点支承安装的基础上,内燃机整机振动的能量
主要集中在 x 自由度和( z ? β )两个自由度的耦合振动方面,同样
适宜采用 PMC 控制技术。
为了将有效的控制作用集中在最需要的地方,分析了频域内有关
部分施控的特性,提出了 PFC 施控策略。根据 PFC 原理建立的性能
指标是频率的函数,从而可以根据需要给予特定频带内额外的加权。
在对内燃机整机振动的频域特性分析后,进行了内燃机整机振动 PFC
控制过程的仿真计算,并最终取得较常数加权矩阵更为优化的控制
效果。
Concentrating on PAC (Partial Active Control) of vibration of
power machinery system, this paper studied the vibration of
turbogenerator shaft system (TSS) and structural vibration of an
internal combustion engine. After a sound theoretical and characteristic
analysis, strategy of active control of PMC (Partial Mode Control),
PCC(Partial Coordinate Control) and PFC (Partial Frequency Control)
were introduced according to the character of controlling object.
First, we judged the strong and weak of mode response from the
calculated dynamic response of the distributed elastic step spindle of
TSS. The succeeding theoretical analysis and simulation of PMC were
made based on the theory of independent modal-space control. Some
characters of PMC were also discussed (i.e. coupled control problem,
selecting weighting matrix and stability regulation etc.). Some
technology measures and important references to these procedures were
introduced in the mean time.
Because vibrations of some key parts must be constrained in a
certain extent, these vibration responses were set as performance
criteria. By minimizing these performance criteria, the PCC optimal
control policy was finally realized. From the simulation of PCC of
vibration of TSS, a good entire control effect including both executive
control and non-control subsystems was obtained.
Based on the theoretical research, a PMC simulation test is carried
out on a 200MW TSS. The satisfied experimental outcome proved the
validity of PMC theory.
In the case of four supporting brackets symmetry to the cent of
mass, the major structural vibration energy of an engine centralizes on
the coupled vibration in the x and ( z ? β ) degree of freedom. The PMC
policy is valid too.
To exert the effective control energy on the most needful parts, the
PFC policy was adopted based on the analysis of characters of PAC in
frequency domain. The performance criteria are functions of frequency
using PFC in linear quadratic control problems. In this case, we can
apply supplementary weighting in given frequency band. Based on the
analysis of the vibration of structural vibration of engine in frequency
domain, a simulated calculation of PFC achieved better optimal results
than which applying constant weighting.
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